Learned Stochastic Mobility Prediction for Planning with Control Uncertainty on Unstructured Terrain.
Thierry PeynotSin-Ting LuiRowan McAllisterRobert FitchSalah SukkariehPublished in: J. Field Robotics (2014)
Keyphrases
- stochastic nature
- prediction accuracy
- stochastic domains
- three dimensional
- multiresolution
- control system
- assembly systems
- decision theory
- motion planning
- control rules
- prediction algorithm
- optimal control
- control method
- prediction model
- partial observability
- legged robots
- wheeled mobile robots
- uncertain data
- action selection
- closed loop
- stochastic simulation
- semi structured
- domain independent
- structured data
- mobile agents
- quadruped robot